lidar_msgs::Objects PointsCluster::Pub(const pcl::PointCloud<pcl::PointXYZ>::Ptr &data_in) { std::vector<points> data; data = CloudToPoints(data_in); // LOG(INFO) << data.size(); std::vector<std::vector<points>> indices = dbscan_->Clustering(data); lidar_msgs::Objects objs; int idx = 0; if (0) { fstream outline1; outline1.open("/home/wj/code/perception/tool/test_julei/" + std::to_string(0) + ".txt", ios::ate | ios::out); for (auto p : data) { outline1 << std::setprecision(10) << p.x << "," << p.y << "," << p.z << "\n"; } } if (indices.empty()) { return objs; }
时间: 2024-04-24 20:21:24 浏览: 8
这段代码是PointsCluster类中的一个名为Pub的函数。它接收一个指向pcl::PointCloud<pcl::PointXYZ>对象的指针data_in作为参数,并返回一个lidar_msgs::Objects对象。
首先,它创建了一个名为data的vector,用于存储将data_in转换为自定义类型points的数据。然后,通过调用CloudToPoints函数将data_in转换为points类型的数据并将其存储在data中。
接下来,它调用dbscan_->Clustering函数对data进行聚类,并将聚类结果存储在indices中。这个函数可能是DBSCAN类中的一个成员函数,它将数据点分为不同的簇,并返回每个簇的索引。
然后,它创建了一个lidar_msgs::Objects对象objs,并初始化idx为0。
接下来是一个if语句,它判断条件为0,但这个条件始终为false,所以if语句内的代码块不会被执行。这段代码可能是用于调试或记录数据的测试代码。
接着是另一个if语句,它判断indices是否为空。如果indices为空,说明没有找到任何簇,那么函数会直接返回objs对象。
总结起来,这段代码的功能是将输入的点云数据进行聚类,并返回聚类结果。如果没有找到任何簇,会返回一个空的lidar_msgs::Objects对象。
相关问题
pcl::PointCloud<pcl::PointXYZI>::Ptr &
This is a smart pointer to a point cloud object of type pcl::PointXYZI. It is used to allocate and manage memory for the point cloud object dynamically, and is part of the Point Cloud Library (PCL) in C++.
The point cloud is represented as a set of points in 3D space, where each point has an intensity value in addition to its x, y, and z coordinates. This type of point cloud is often used in lidar and laser scanning applications, where the intensity value represents the reflected laser beam strength at that particular point.
The "Ptr" suffix in the type indicates that this is a smart pointer, which means that it automatically manages the memory allocation and deallocation for the point cloud object. This helps to prevent memory leaks and other memory-related issues that can occur when using raw pointers.
idar_align/devel/lib/lidar_align/lidar_align_node __name:=lidar_align
要运行idar_align/devel/lib/lidar_align/lidar_align_node节点,可以使用以下命令行指令:
```
rosrun lidar_align lidar_align_node __name:=lidar_align
```
该指令将会在终端中运行lidar_align_node节点,并将节点的名称设置为lidar_align。请确保已经在终端中进入到正确的工作空间,并且已经source了必要的环境设置。<span class="em">1</span><span class="em">2</span><span class="em">3</span>
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